摘要
针对在复杂建筑装修场景下,测量机器人自主导航过程中存在路径规划速度慢、路径安全性不足以及运动速度振荡等问题,提出了一种改进A*和优化TEB的组合导航路径规划方法。该方法增加了对障碍物的碰撞评估检测,并优化全局规划路径中存在的冗余路径点以及多余的转折点,在相邻路径点之间采用优化TEB算法进行局部规划,有效实现了规划路径最优,提升了路径的安全性能、减少了路径的规划时间并提高了路径转角缩减率。实验结果表明,改进的A*算法比传统A*算法在路径长度上平均减少了23.51%,在规划时间上平均快了42.52%;加入优化TEB算法实现局部路径修正,达到动态避障的目的,验证了算法的安全性和有效性。
In order to solve the problems of slow path planning speed,insufficient path safety and oscillation of motion speed in the autonomous navigation process of measurement robots in complex building decoration scenarios,a combined navigation path planning method that improves A∗and optimizes TEB is proposed.To enhance the safety and effectiveness of the path planning for architectural measurement robots,collision evaluation detection for obstacles has been introduced.Additionally,redundant path points and unnecessary turning points in the global planning path have been optimized.The optimized TEB algorithm is employed for local planning between adjacent path points,achieving optimal path planning and improving the safety performance of the path while reducing planning time and minimizing path turning angles.The experimental results show that the improved A∗algorithm reduces the path length by 23.51%on average and is 42.52%faster on average than the traditional A∗algorithm in terms of planning time,and the addition of the optimized TEB algorithm achieves local path correction to achieve dynamic obstacle avoidance,
作者
张顺
张巧芬
王桂棠
吴黎明
蔡志勇
李云飞
林子涵
ZHANG Shun;ZHANG Qiaofen;WANG Guitang;WU Liming;CAI Zhiyong;LI Yunfei;LIN Zihan(School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou 510006,China;Cangke Intelligent Technology Co.,Ltd.,Foshan Guangdong 528225,China;Guangdong Cangke Intelligent Technology Co.,Ltd.,Foshan Guangdong 528313,China)
出处
《激光杂志》
CAS
北大核心
2024年第10期39-46,共8页
Laser Journal
基金
国家自然科学基金(No.61705045)
佛山市高校教师特色创新研究项目(No.2021DZXX15)
2023年佛山市促进高校科技成果服务产业发展扶持项目(No.2023DZXX02)。
